CN111950434A - Lane line structuralization method and system based on discrete point scanning - Google Patents
Lane line structuralization method and system based on discrete point scanning Download PDFInfo
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Abstract
The invention relates to a lane line structuralization method and a lane line structuralization system based on discrete point scanning, wherein the method comprises the following steps: constructing a reference line; constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, and taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point; determining discrete points formed by the intersection points of adjacent reference lines and lane lines or track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segment, and performing matching splicing according to the frame number of each discrete point; the lane lines and the trajectory lines are scattered to form discrete points, each vertical line segment and the corresponding discrete point are regarded as frame data, matching splicing and supplementing are carried out according to the frame number of each discrete point, correlation calculation and correlation measurement of the lane lines, the trajectory lines and the reference lines are converted into calculation of the discrete points and the reference lines on the basis of the discrete point data, the problem that correlation between the lines is difficult to express is avoided, and the universality of measurement is enhanced.
Description
Technical Field
The invention relates to the field of high-precision maps, in particular to a lane line structuralization method and system based on discrete point scanning.
Background
In the process of crowdsourcing and updating the high-precision map, crowdsourcing collection vehicles carry GPS and vision cameras, and then massive fragmented perception lane lines and GPS track data can be extracted. However, the perception lane lines directly extracted by crowdsourcing collection vehicles are scattered and fragmented, and partial areas are even seriously lost due to the fact that the lane lines are worn.
The fragmented perception lane lines cannot be used for directly constructing lane-level topology, so that scattered perception lane lines need to be subjected to structural processing, are changed into integrity through means such as classification, cutting, completion and fitting, can be used for constructing lane-level guide lines and lane-level topology, and further meet the requirements of lane-level path planning of automatic driving.
For fragmented perception lane lines, a relatively common structural processing method at present is to calculate a reference line describing a road trend, construct a distance matrix according to the relative distance between the reference line and the fragmented lane lines, classify the lane lines through various clustering methods, and fit the classified lane lines to obtain the structured lane lines. The method has the obvious defects that firstly, the dependence on the accuracy of the reference line is high, once the reference line is deviated and cannot be well attached to a road, classification is carried out on the basis of a distance matrix constructed by the reference line, and the result is also uncontrollable; secondly, scattered lane lines and reference lines are linear, the distance between the lines is difficult to define, and the universality is not high; thirdly, when logical reasoning is carried out on the positions with bare and leaked tracks and missing lane lines, the interleaving of the track lines, the lane lines and the reference lines can cause that the tracks are difficult to be effectively used.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a lane line structuring method based on discrete point scanning, and solves the problems in the prior art.
The technical scheme for solving the technical problems is as follows: a lane line structuring method based on discrete point scanning comprises the following steps:
step 1, constructing a reference line;
step 2, constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, and taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, wherein the discrete point records corresponding information of the vertical line segment;
and 3, determining the discrete points formed by the intersection points of the adjacent reference lines and the lane lines or the track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segments, and performing matching splicing according to the frame number of each discrete point.
A lane line structuring system based on discrete point scanning, comprising: the system comprises a reference line construction module, a discrete point construction module and a lane line structuring module;
the reference line construction module is used for constructing a reference line;
the discrete point construction module is used for constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, and recording corresponding information of the vertical line segment on the discrete point;
and the lane line structuralization module is used for determining the discrete points formed by the intersection points of the adjacent reference lines and the lane lines and the track lines as adjacent front and rear frame data according to the corresponding information of the vertical line segments recorded by the discrete points, and performing matching splicing according to the frame number sequence numbers of the discrete points.
The invention has the beneficial effects that: according to the lane line structuralization method and system based on discrete point scanning, a reference line describing the road trend is firstly aggregated according to the track in the current road, because the track is continuous and the change in a local range is tiny, the local information change of the aggregated reference line is also tiny, and the possible large accumulated error in a large range is not restricted; then, the lane lines and the track lines are scattered, perpendicular line segments with certain distance intervals are constructed by the reference lines, the intersection points of the perpendicular line segments and the perception lane lines and the track lines are taken as scattered points of the lane lines and the track lines respectively, thus, in each frame of data, the scattered points are drawn in order, and when the lane lines need to be logically supplemented, the corresponding positions can be determined directly through data source information recorded by the scattered points; then, each vertical line segment and the corresponding discrete points are regarded as frame data, matching splicing and supplementing are carried out according to the frame number sequence number of each discrete point, and correlation calculation and correlation measurement of the lane line, the track line and the reference line are converted into calculation of the discrete points and the reference line on the basis of the discrete point data, so that the problem that correlation between the lines is difficult to express is avoided, and the measurement universality is enhanced.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the method for constructing the reference line in step 1 is as follows: dividing the trajectory into segment data with a set length along the driving direction, performing principal component analysis on each segment data, taking the principal axis direction as the principal direction in the segment data, and splicing each segment data to form the reference line.
Further, the step 2 of recording the corresponding information of the vertical line segment by the discrete point includes:
when the vertical line segment is constructed, the sequence number of each vertical line segment is recorded with the subscript thereof, and the subscript of the frame data of the discrete point corresponds to the subscript of the vertical line segment where the discrete point is located.
Further, the discrete points are recorded with: three-dimensional coordinate position information of the discrete points, subscripts, heading angles, unique numbers of the lane lines and the trajectory lines themselves, and distances from the discrete points to the reference line.
Further, the process of performing matching and splicing according to the frame number sequence of each discrete point in the step 3 includes: matching the discrete points of the former frame data with the discrete points of the latter frame data based on the discrete points of the former frame data along the road driving direction, and splicing the matched discrete points, wherein the matching judgment method comprises the following steps:
judging whether the discrete points belong to the same lane line or not according to the unique number information of the lane line or the track line;
directly matching discrete points of front and rear frame data on the same lane line;
and analyzing whether the discrete points are matched or not by the distance between the discrete points and the reference line and the course angle of the discrete points on the front and the back frame data belonging to different lane lines.
Further, in the process of matching and splicing in the step 3, when sensing loss exists in the next frame of data and a discrete point matched with the previous frame of data cannot be found, the maximum likelihood estimation of the number of lanes in the local range of the current area is analyzed by combining the discrete points of the lane lines or the track lines of the previous frames of data, so as to obtain the most appropriate number of lane lines; and combining the current frame data, and supplementing the missing positions according to the distance, the course angle and the number of the lane lines.
Further, in the process of matching and splicing in step 3, when the track is not missed due to the missing of the outside sensing lane line, the matched frame data is used for comparing and judging whether only the rear region in the lane line is perceptively missing or the front and rear regions are perceptively missing, and the corresponding position is determined according to the subscript of the frame data of the discrete point;
when only the perception of the rear area is lost, directly reasoning the shape point of the current frame data loss according to the existing lane line;
and when the front and rear areas are judged to be sensed to be missing, analyzing the optimal lane width of the missing lane according to other lanes of the current frame data, and combining the track of the naked leakage and the most adjacent lane line to fill up the outer side shape points.
Further, the step 3 is followed by: and (3) reversing the subscripts of the frame data of the discrete points, and repeatedly executing the step 3 to perform matching and splicing of the discrete points.
The beneficial effect of adopting the further scheme is that: when constructing the vertical line segment, recording the sequencing number of each vertical line segment, wherein the subscript of the frame data of each discrete point corresponds to the subscript of the vertical line segment where the discrete point is located, and when the lane line needs to be logically supplemented, the corresponding position can be determined directly through the frame subscript; the lane line structuralization is mainly realized by matching of front and back frame data, the matching and logic processing of the adjacent front and back frame data are local, and the influence of the tiny change of the reference line on the data matching is small in a local range, so that the dependence of the lane line structuralization on the reference line is reduced, and the robustness is better; when a road increase and decrease section is constructed subsequently and a lane line needs to be cut, performance of directly obtaining the segmentation data through frame subscripts is greatly improved compared with that of corresponding segmentation data obtained through line intersection calculation; when the discrete points are scanned, the next frame data is used for matching the previous frame data, so that the processing result shows that the effect on the condition that the front side of the lane line is lost and the rear side is complete is poor. Therefore, based on the result of forward scanning, the subscripts of the frame data are directly subjected to reverse sequencing, and then the discrete point scanning processing is repeatedly executed once, so that the shape points are reasoned by taking the existing lane lines and the track lines as reference to the maximum extent possible, and the data confidence of the logic shape points is improved.
Drawings
Fig. 1 is a flowchart of a lane line structuring method based on discrete point scanning according to the present invention;
FIG. 2 is a flowchart of an embodiment of a lane line structuring method based on discrete point scanning according to the present invention;
fig. 3 is a structural block diagram of an embodiment of a lane line structuring system based on discrete point scanning according to the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
101. the system comprises a reference line construction module 102, a discrete point construction module 103, a lane line structuring module 201, a processor 202, a communication interface 203, a memory 204 and a communication bus.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a lane line structuring method based on discrete point scanning according to the present invention, and as can be seen from fig. 1, the method includes:
step 1, constructing a reference line.
And 2, constructing each vertical line segment which is vertical to the reference line and is spaced from the reference line by a set distance, taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, and recording corresponding information of the vertical line segment at the discrete point.
And 3, determining discrete points formed by the intersection points of adjacent reference lines and lane lines or track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segment, and performing matching splicing according to the frame number sequence of each discrete point.
According to the lane line structuring method based on discrete point scanning, a reference line describing the road trend is firstly aggregated according to the track in the current road, because the track is continuous and the change in a local range is tiny, the local information change of the aggregated reference line is tiny, and the possible large accumulated error in a large range is not restricted; then, the lane lines and the track lines are scattered, perpendicular line segments with certain distance intervals are constructed by the reference lines, the intersection points of the perpendicular line segments and the perception lane lines and the track lines are taken as scattered points of the lane lines and the track lines respectively, thus, in each frame of data, the scattered points are drawn in order, and when the lane lines need to be logically supplemented, the corresponding positions can be determined directly through data source information recorded by the scattered points; then, each vertical line segment and the corresponding discrete points are regarded as frame data, matching splicing and supplementing are carried out according to the frame number sequence number of each discrete point, and correlation calculation and correlation measurement of the lane line, the track line and the reference line are converted into calculation of the discrete points and the reference line on the basis of the discrete point data, so that the problem that correlation between the lines is difficult to express is avoided, and the measurement universality is enhanced.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a lane line structuring method based on discrete point scanning, and as shown in fig. 2, is a flowchart of an embodiment of a lane line structuring method based on discrete point scanning, and as can be seen from fig. 2, the embodiment includes:
step 1, constructing a reference line.
Preferably, the method for constructing the reference line comprises the following steps: dividing the trajectory into segment data with a set length along the driving direction, performing principal component analysis on each segment data, taking the principal axis direction as the principal direction in the segment data, and splicing each segment data to form a reference line.
Specifically, the trajectory is a running trajectory of the crowd-sourced collection vehicle on the current road, and the set length of the segment data cannot be too large, for example, the set length may be 3 meters or 5 meters, so as to keep the trajectory not to change greatly in direction within a small range. If there is a finer demand for the reference line, the elastic length threshold can be set according to the angle change in curves and straight lanes.
And 2, constructing each vertical line segment which is vertical to the reference line and is spaced from the reference line by a set distance, taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, and recording corresponding information of the vertical line segment at the discrete point.
Preferably, the process of recording information corresponding to the vertical line segment at the discrete point includes:
when the vertical line segment is constructed, the sequence number of each vertical line segment is recorded and marked on the subscript thereof, and the subscript of the frame data of the discrete point corresponds to the subscript of the vertical line segment where the discrete point is located.
Specifically, the discrete point further records: three-dimensional coordinate position information, subscript, course angle, unique serial numbers of a lane line and a track line, distance from the discrete point to a reference line and the like of the discrete point, and matching analysis and shape point logical reasoning of front and back frame data are realized through the information.
And 3, determining discrete points formed by the intersection points of adjacent reference lines and lane lines or track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segment, and performing matching splicing according to the frame number sequence of each discrete point.
Preferably, the process of performing matching concatenation according to the frame number of each discrete point includes: matching the discrete points of the former frame data with the discrete points of the latter frame data based on the discrete points of the former frame data along the road driving direction, and splicing the matched discrete points, wherein the matching judgment method comprises the following steps:
and judging whether the discrete points belong to the same lane line or not according to the unique number information of the lane line or the track line.
Discrete points of front and rear frame data on the same lane line are directly matched, so that the integrity of the lane line is kept; and analyzing whether the discrete points are matched or not by the distance between the discrete points and the reference line and the course angle, thereby realizing the splicing among different lane lines.
The lane line structuralization is mainly realized by matching of front and back frame data, the matching and logic processing of the adjacent front and back frame data are local, and the influence of the tiny change of the reference line on the data matching is small in a local range, so that the dependence of the lane line structuralization on the reference line is reduced, and the robustness is better; when a road increase and decrease section is constructed subsequently and a lane line needs to be cut, the performance of directly obtaining the segmentation data through the frame subscript is greatly improved compared with the performance of intercepting the corresponding segmentation data through line intersection calculation.
Specifically, in the process of matching and splicing, when sensing loss exists in the next frame of data and a discrete point matched with the previous frame of data cannot be found, the maximum likelihood estimation of the number of lanes in the local range of the current area can be analyzed by combining the discrete points of lane lines or track lines of the previous frames of data, so that the most appropriate number of lane lines can be obtained; and then combining the current frame data, checking for missing and filling up the missing positions according to the distance, the course angle and the number of lane lines.
Specifically, in the process of matching and splicing, when the track is exposed due to the loss of the outside sensing lane line, it is relatively troublesome to obtain the area of the exposed track by simply calculating the positions and the relevant values of the lane line and the track line, and it is easier to judge by directly comparing the discrete points of the track with the discrete points of the lane line through the data of one frame. And then for the position of the missing outer side shape point, firstly, comparing and judging whether only the rear area is perceptually missing or both the front area and the rear area are perceptually missing in the lane line by using the frame data matched in the front, and determining the corresponding position by using the subscript of the frame data of the discrete point, wherein the perception missing of the rear area only means that the lane line exists in the front and the rear is perceptually missing.
When only the perception of the rear area is lost, the shape point of the current frame data loss can be directly inferred according to the existing lane line.
When the front and rear regions are judged to be sensed to be missing, the optimal lane width of the missing lane needs to be analyzed according to other lanes of the current frame data, and the outer side shape points are filled by combining the track of the naked leakage and the most adjacent lane lines. And under the condition of low requirement on the accuracy of the outer lane sideline, a lane width default value can be directly set according to the type of the road.
For the frame data with the missing track and lane lines, performing shape point inference and filling on the position of the missing track according to the previous frame data, and performing maximum likelihood estimation on the number of the lane lines at the position with the missing track line on the inner side to obtain the most reasonable number of the lanes in the current frame data so as to perform shape point logic and filling; and repeatedly executing matching and reasoning and supplementing of the front frame data and the back frame data to obtain the structured lane line.
Preferably, step 3 is followed by: and (4) reversing the subscripts of the frame data of each discrete point, and repeatedly executing the step (3) to perform matching and splicing of the discrete points.
When the discrete points are scanned, the next frame data is used for matching the previous frame data, so that the processing result shows that the effect on the condition that the front side of the lane line is lost and the rear side is complete is poor. Therefore, based on the result of forward scanning, the subscripts of the frame data are directly subjected to reverse sequencing, and then the discrete point scanning processing is repeatedly executed once, so that the shape points are reasoned by taking the existing lane lines and the track lines as reference to the maximum extent possible, and the data confidence of the logic shape points is improved.
Example 2
Embodiment 2 provided by the present invention is an embodiment of a lane line structuring system based on discrete point scanning provided by the present invention, and as shown in fig. 3, is a structural block diagram of an embodiment of a lane line structuring system based on discrete point scanning provided by the present invention, as can be seen from fig. 3, the system includes: a reference line construction module 101, a discrete point construction module 102 and a lane line structuring module 103.
A reference line construction module 101 for constructing a reference line.
The discrete point constructing module 102 is configured to construct vertical line segments perpendicular to the reference line and spaced from each other by a set distance, and take each intersection point of the vertical line segment and the lane line and the trajectory line as a discrete point, where the discrete point records corresponding information of the vertical line segment.
And the lane line structuring module 103 is configured to determine discrete points formed by intersections of adjacent reference lines, lane lines and track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segment, and perform matching splicing according to the frame number of each discrete point.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: the system comprises a processor 201, a communication interface 202, a memory 203 and a communication bus 204, wherein the processor 201, the communication interface 202 and the memory 203 are communicated with each other through the communication bus 204. The processor 201 may call a computer program stored on the memory 203 and executable on the processor 201 to execute the lane line structuring method based on discrete point scanning provided by the above embodiments, for example, including: step 1, constructing a reference line; step 2, constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, and recording corresponding information of the vertical line segment on the discrete point; and 3, determining discrete points formed by the intersections of adjacent reference lines, lane lines and track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segment, and performing matching splicing according to the frame number of each discrete point.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method for structuring a lane line based on discrete point scanning provided in the foregoing embodiments when executed by a processor, and for example, the method includes: step 1, constructing a reference line; step 2, constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, and recording corresponding information of the vertical line segment on the discrete point; and 3, determining discrete points formed by the intersections of adjacent reference lines, lane lines and track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segment, and performing matching splicing according to the frame number of each discrete point.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A lane line structuring method based on discrete point scanning is characterized by comprising the following steps:
step 1, constructing a reference line;
step 2, constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, and taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, wherein the discrete point records corresponding information of the vertical line segment;
and 3, determining the discrete points formed by the intersection points of the adjacent reference lines and the lane lines or the track lines as adjacent front and rear frame data according to the corresponding information recorded by each discrete point and the vertical line segments, and performing matching splicing according to the frame number of each discrete point.
2. The method of claim 1, wherein the step 1 of constructing the reference line comprises: dividing the trajectory into segment data with a set length along the driving direction, performing principal component analysis on each segment data, taking the principal axis direction as the principal direction in the segment data, and splicing each segment data to form the reference line.
3. The method according to claim 1, wherein the step 2 of recording the corresponding information of the vertical segment by the discrete points comprises:
when the vertical line segment is constructed, the sequence number of each vertical line segment is recorded with the subscript thereof, and the subscript of the frame data of the discrete point corresponds to the subscript of the vertical line segment where the discrete point is located.
4. The method of claim 3, wherein the discrete points further record: three-dimensional coordinate position information of the discrete points, subscripts, heading angles, unique numbers of the lane lines and the trajectory lines themselves, and distances from the discrete points to the reference line.
5. The method according to claim 4, wherein the step 3 of performing matching concatenation according to the frame number of each discrete point comprises: matching the discrete points of the former frame data with the discrete points of the latter frame data based on the discrete points of the former frame data along the road driving direction, and splicing the matched discrete points, wherein the matching judgment method comprises the following steps:
judging whether the discrete points belong to the same lane line or not according to the unique number information of the lane line or the track line;
directly matching discrete points of front and rear frame data on the same lane line;
and analyzing whether the discrete points are matched or not by the distance between the discrete points and the reference line and the course angle of the discrete points on the front and the back frame data belonging to different lane lines.
6. The method according to claim 5, wherein in the process of matching and splicing in step 3, when the subsequent frame data has a sensing deficiency in the interior and a discrete point matching with the previous frame data cannot be found, the maximum likelihood estimation of the number of lanes in the local range of the current area is analyzed by combining the discrete points of the lane lines or the track lines of the previous frame data to obtain the most appropriate number of lane lines; and combining the current frame data, and supplementing the missing positions according to the distance, the course angle and the number of the lane lines.
7. The method according to claim 5, wherein in the process of matching and splicing in step 3, when the track is not missed due to the missing of the outside sensing lane line, the matched frame data is used for comparing and judging whether only the rear area in the lane line is sensed to be missing or both the front area and the rear area are sensed to be missing, and the corresponding position is determined by the subscript of the frame data of the discrete points;
when only the perception of the rear area is lost, directly reasoning the shape point of the current frame data loss according to the existing lane line;
and when the front and rear areas are judged to be sensed to be missing, analyzing the optimal lane width of the missing lane according to other lanes of the current frame data, and combining the track of the naked leakage and the most adjacent lane line to fill up the outer side shape points.
8. The method of claim 5, further comprising, after step 3: and (3) reversing the subscripts of the frame data of the discrete points, and repeatedly executing the step 3 to perform matching and splicing of the discrete points.
9. A lane line structuring system based on discrete point scanning, the system comprising: the system comprises a reference line construction module, a discrete point construction module and a lane line structuring module;
the reference line construction module is used for constructing a reference line;
the discrete point construction module is used for constructing each vertical line segment which is vertical to the reference line and has a set distance between the vertical line segment and the reference line, taking each intersection point of the vertical line segment, the lane line and the track line as a discrete point, and recording corresponding information of the vertical line segment on the discrete point;
and the lane line structuralization module is used for determining the discrete points formed by the intersection points of the adjacent reference lines and the lane lines and the track lines as adjacent front and rear frame data according to the corresponding information of the vertical line segments recorded by the discrete points, and performing matching splicing according to the frame number sequence numbers of the discrete points.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the lane line structuring method based on discrete point scanning according to any one of claims 1 to 8.
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| EP4254332A1 (en) * | 2022-03-30 | 2023-10-04 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Method and apparatus for optimizing map data, and storage medium |
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